Detailed Description

Input parameters for mrpt::vision::checkerBoardStereoCalibration.

Definition at line 55 of file chessboard_stereo_camera_calib.h.

#include <mrpt/vision/chessboard_stereo_camera_calib.h>

Public Member Functions
	TStereoCalibParams ()

Public Attributes
unsigned int	check_size_x {7}
	The number of squares in the checkerboard in the "X" & "Y" direction. More...

unsigned int	check_size_y {9}

double	check_squares_length_X_meters {0.02}
	The size of each square in the checkerboard, in meters, in the "X" & Y" axes. More...

double	check_squares_length_Y_meters {0.02}

bool	normalize_image {true}

bool	skipDrawDetectedImgs {false}

bool	verbose {true}
	Show progress messages to std::cout console (default=true) More...

size_t	maxIters {2000}
	Maximum number of iterations of the optimizer (default=300) More...

bool	optimize_k1 {true}
	Select which distortion parameters (of both left/right cameras) will be optimzed: k1,k2,k3 are the r^2, r^4 and r^6 radial distorion coeficients, and t1 and t2 are the tangential distortion coeficients (see mrpt::img::TCamera). More...

bool	optimize_k2 {true}

bool	optimize_k3 {false}

bool	optimize_t1 {false}

bool	optimize_t2 {false}

bool	use_robust_kernel {false}
	Employ a Pseudo-Huber robustifier kernel (Default: false) More...

double	robust_kernel_param {10}
	The parameter of the robust kernel, in pixels (only if use_robust_kernel=true) (Default=10) More...

TSteroCalibCallbackFunctor	callback {nullptr}
	If set to !=NULL, this function will be called within each Lev-Marq. More...

void *	callback_user_param {nullptr}
	If using a callback function, you can use this to pass custom data to your callback. More...

Constructor & Destructor Documentation

◆ TStereoCalibParams()

TStereoCalibParams::TStereoCalibParams ( )

default

Member Data Documentation

◆ callback

TSteroCalibCallbackFunctor mrpt::vision::TStereoCalibParams::callback {nullptr}

If set to !=NULL, this function will be called within each Lev-Marq.

iteration (don't do heavy stuff here since performance will degrade)

Definition at line 90 of file chessboard_stereo_camera_calib.h.

Referenced by mrpt::vision::checkerBoardStereoCalibration().

◆ callback_user_param

void* mrpt::vision::TStereoCalibParams::callback_user_param {nullptr}

If using a callback function, you can use this to pass custom data to your callback.

Definition at line 93 of file chessboard_stereo_camera_calib.h.

Referenced by mrpt::vision::checkerBoardStereoCalibration().

◆ check_size_x

unsigned int mrpt::vision::TStereoCalibParams::check_size_x {7}

The number of squares in the checkerboard in the "X" & "Y" direction.

Definition at line 58 of file chessboard_stereo_camera_calib.h.

Referenced by mrpt::vision::checkerBoardStereoCalibration().

◆ check_size_y

unsigned int mrpt::vision::TStereoCalibParams::check_size_y {9}

Definition at line 58 of file chessboard_stereo_camera_calib.h.

Referenced by mrpt::vision::checkerBoardStereoCalibration().

◆ check_squares_length_X_meters

double mrpt::vision::TStereoCalibParams::check_squares_length_X_meters {0.02}

The size of each square in the checkerboard, in meters, in the "X" & Y" axes.

Definition at line 61 of file chessboard_stereo_camera_calib.h.

Referenced by mrpt::vision::checkerBoardStereoCalibration().

◆ check_squares_length_Y_meters

double mrpt::vision::TStereoCalibParams::check_squares_length_Y_meters {0.02}

Definition at line 62 of file chessboard_stereo_camera_calib.h.

Referenced by mrpt::vision::checkerBoardStereoCalibration().

◆ maxIters

size_t mrpt::vision::TStereoCalibParams::maxIters {2000}

Maximum number of iterations of the optimizer (default=300)

Definition at line 68 of file chessboard_stereo_camera_calib.h.

Referenced by mrpt::vision::checkerBoardStereoCalibration().

◆ normalize_image

bool mrpt::vision::TStereoCalibParams::normalize_image {true}

Definition at line 63 of file chessboard_stereo_camera_calib.h.

Referenced by mrpt::vision::checkerBoardStereoCalibration().

◆ optimize_k1

bool mrpt::vision::TStereoCalibParams::optimize_k1 {true}

Select which distortion parameters (of both left/right cameras) will be optimzed: k1,k2,k3 are the r^2, r^4 and r^6 radial distorion coeficients, and t1 and t2 are the tangential distortion coeficients (see mrpt::img::TCamera).

Those set to false will be assumed to be fixed to zero (no distortion).